/*
* BSD 3-Clause License

* Copyright (c) 2024, DDDMobileRobot

* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:

* 1. Redistributions of source code must retain the above copyright notice, this
*    list of conditions and the following disclaimer.

* 2. Redistributions in binary form must reproduce the above copyright notice,
*    this list of conditions and the following disclaimer in the documentation
*    and/or other materials provided with the distribution.

* 3. Neither the name of the copyright holder nor the names of its
*    contributors may be used to endorse or promote products derived from
*    this software without specific prior written permission.

* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef TRAJECTORY_SAMPLE_GENERATOR_H_
#define TRAJECTORY_SAMPLE_GENERATOR_H_

/*path for trajectory*/
#include <base_trajectory/trajectory.h>

namespace base_trajectory {

/**
 * @class TrajectorySampleGenerator
 * @brief Provides an interface for navigation trajectory generators
 */
class TrajectorySampleGenerator {
public:

  //virtual void readParameters(std::string name) = 0;

  /**
   * Whether this generator can create more trajectories
   */
  virtual bool hasMoreTrajectories() = 0;

  /**
   * Iterate to the next trajectory
   */
  virtual bool nextTrajectory(base_trajectory::Trajectory& comp_traj) = 0;

  /**
   * @brief  Virtual destructor for the interface
   */
  virtual ~TrajectorySampleGenerator() {}

protected:
  TrajectorySampleGenerator() {}

};

} // end namespace

#endif /* TRAJECTORY_SAMPLE_GENERATOR_H_ */
